CN101734244B - System and method for ensuring driving safety having functions of foresight ranging and automatic deceleration - Google Patents
System and method for ensuring driving safety having functions of foresight ranging and automatic deceleration Download PDFInfo
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- CN101734244B CN101734244B CN 201010106723 CN201010106723A CN101734244B CN 101734244 B CN101734244 B CN 101734244B CN 201010106723 CN201010106723 CN 201010106723 CN 201010106723 A CN201010106723 A CN 201010106723A CN 101734244 B CN101734244 B CN 101734244B
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Abstract
The invention provides a system for ensuring driving safety having functions of foresight ranging and automatic deceleration, which consists of a range finder, a vehicle speed meter, a central control unit, a data display and alarm unit, a deceleration driving device and a system power supply. The range finder which adopts a laser range radar is arranged on a vehicle; an output end of the vehicle speed meter is connected with the input of the central control unit; a driver is embedded in the central control unit and is connected with the range finder and the data display and alarm unit through an interface circuit respectively; and an output end of the central control unit is connected with a vehicle brake system through a deceleration control unit. A method for ensuring the driving safety comprises the following steps that: the system is started; a main control computer acquires vehicle speed data; the range finder is in a dormancy state if the vehicle speed is lower than a set value V0, and the range finder measures a distance between the vehicle and a front barrier and sends the distance data to the main control computer if the vehicle speed is higher than the set value V0; a ratio of a distance L to a current speed v is calculated and compared with a safety response time t0, the deceleration driving device is still if the ratio is more than t0; and an alarm device alarms if the ratio is less than t0, and the brake system is driven to decelerate the vehicle if a repeated times n reaches to a set value n0.
Description
Technical field
The present invention relates to a kind of travel safety ensuring system, particularly relate to a kind of by forward looking ranging and according to travel safety ensuring system and the method for result of a measurement regulation speed.
Background technology
Along with popularizing of family expenses vehicle, traffic safety has become a major issue in the life.When driving, only make Ben Che and front vehicles keep enough distances could effectively avoid the generation of rear-end collision.For this reason, traffic management system has been taked a lot of measures, such as, just on express highway, whenever be spaced a distance and draw some space confirmation lines on the road surface, estimate distance between this car and the front vehicles to help the driver.But the effect of these measures is limited.Because the safety distance that needs between two cars to keep is a dynamic data, it is not only relevant with the speed of this car, also with Ben Che and front vehicles between relative velocity relevant.How to grasp and front vehicles between the safety distance not a duck soup.In addition, also might occur the unforeseen circumstancess such as trees that the stone that is rolled down owing to the landslide or strong wind blow down on the road surface, when high vehicle speeds, want effectively to evade also non-easy thing of these obstacles.How to address this problem not yet has good way at present.
Summary of the invention
The purpose of this invention is to provide a kind of travel safety ensuring system and safe travelling method with forward looking ranging and automatic retarding function.
For achieving the above object, the present invention takes following design plan:
A kind of travel safety ensuring system with forward looking ranging and automatic retarding function, it is made of forward looking ranging instrument, Central Processing Unit (CPU), data demonstration and Alarm Unit, speed reducing driving device, vehicle speedometer and system power supply, wherein
Described forward looking ranging instrument adopts a range only radar, is installed on vehicle upper or front portion;
Described Central Processing Unit (CPU), built-in driver is connected with forward looking ranging instrument, data demonstration and Alarm Unit, vehicle speedometer and deceleration control unit respectively by interface circuit;
The forward looking ranging instrument obtains instruction from Central Processing Unit (CPU), according to the instruction works of Central Processing Unit (CPU), and the range data that records is transferred to Central Processing Unit (CPU);
Data show and Alarm Unit also shows from the Central Processing Unit (CPU) receive data, and send where necessary sound/light warning signal;
The mouth of vehicle speedometer links to each other with the input end of Central Processing Unit (CPU), for it provides instant vehicle speed data;
The deceleration control unit connects the brake system of vehicle self;
System power supply provides power supply for whole system.
The kind of described range only radar has a lot, can be divided into radio distance measurement radar, tellurometer survey radar, range laser radar etc. according to the difference of frequency of operation.According to application characteristic of the present invention, range laser radar has restricted little, the advantage such as antijamming capability is strong, is a good selection.
Described range laser radar is comprised of transmitter unit, receiving element and electric time-keeping unit, and described transmitter unit comprises a laser at least.
The advantages such as infrared ray has people's eyes and health zero damage, and antijamming capability is strong, therefore described laser is preferably selected wavelength and the pulse way of output of infrared band.
In the situation that possible, described vehicle speedometer and system power supply can be used vehicle speedometer and the power supply of vehicle self.
The speed reducing driving device of the brake system of described vehicle self adopts hydraulic-driven, motor-driven or Electromagnetic Drive.
Set this car speed of a motor vehicle v in the described Central Processing Unit (CPU) built-in driver
0The starting point of starting working for the forward looking ranging instrument; L/v=t
0As the initial standard of judging starting warning device and speed reducing driving device, wherein L is the distance of Ben Che and the place ahead obstacle, and v is this car current vehicle speed, t
0The security reaction time when finding that for common person for driving a car the place ahead has obstacle to brake.
A kind of driving safety guaranteeing method that uses aforementioned system, its method step is as follows:
A) aforesaid travel safety ensuring system with forward looking ranging and automatic retarding function is installed in the vehicle security reaction time t when setting in advance common person for driving a car in the built-in drive program of this system and finding that the place ahead has obstacle to brake
0, speed of a motor vehicle setting value v
0,Multiplicity parameter n
0With a time gap Δ t value;
B) travel safety ensuring system that automatic activation has forward looking ranging and automatic retarding function behind the vehicle launch;
C) system at first returns 0 with multiplicity n after starting;
D) main control computer begins to gather vehicle speed data: if the speed of a motor vehicle is lower than setting value v
0, at this moment the forward looking ranging instrument just is in dormant state, and main control computer continues to gather vehicle speed data; In case the speed of a motor vehicle is more than or equal to setting value v
0, continue next step;
E) the forward looking ranging instrument is started working, and measures this car and the place ahead obstacle distance data L, and is transferred to main control computer;
F) main control computer calculates the ratio of L and current vehicle speed v, the security reaction time t when result of calculation and common person for driving a car find that the place ahead has obstacle to brake
0Relatively, if L/v ratio is greater than t
0, multiplicity n returns 0, and speed reducing driving device is failure to actuate; If L/v ratio is less than t
0, warning device sends sound/visual alarm, and multiplicity n is from adding 1;
G) system judges whether n reaches setting value n
0If n reaches setting value n
0, main control computer sends speed-slackening signal to speed reducing driving device, drives brake and drive system for vehicle with tow and makes car retardation, and get back to step c); If n＜n
0, and n keeps 0＜n＜n
0Time less than the time interval value Δ t that sets, then get back to step e); If n＜n
0, and n keeps 0＜n＜n
0Time greater than time interval value Δ t, then get back to step c).
In the normal vehicle operation, system is in running order all the time; Behind the vehicle immobilization, system can autoshutdown, also can be in the stand-by operation state.
Innovative point of the present invention is range laser radar is applied in the vehicle driving safety system, can effectively guarantee quick response and the measurement of system, makes traffic safety that the assurance of reliability arranged.
Advantage of the present invention is: owing to having adopted the range laser radar system, so that the reaction time of apparatus of the present invention rapidly and accurately, and the blind area of test is little or do not have the blind area, thereby can effectively guarantee traffic safety.
Description of drawings
Fig. 1 is the travel safety ensuring system composition schematic diagram that the present invention has forward looking ranging and automatic retarding function.
Fig. 2 is that range laser radar of the present invention forms schematic diagram.
Fig. 3 is Central Processing Unit (CPU) job procedure block flow diagram of the present invention.
Fig. 4 is that speed reducing driving device one example structure consists of schematic diagram
Below in conjunction with drawings and the specific embodiments the present invention is described in further details:
The specific embodiment
Consult shown in Figure 1, the travel safety ensuring system that the present invention has forward looking ranging and automatic retarding function is (to adopt the vehicle speedometer of former truck system better by forward looking ranging instrument 1, main control unit 3, data demonstration and Alarm Unit (device) 6, speed reducing driving device 4 with vehicle speedometer 2, also outer vehicle speedometer of joining), system power supply 7 (both can adopt the vehicle power of former truck system, also can according to the needs external power supply of watt level) is united formation.
Described forward looking ranging instrument 1 is installed on vehicle upper or front portion, can this car of continuous gauging and the place ahead object (comprising vehicle or snag thing etc.) that may occur between distance.
One of main innovate point of the present invention is: adopt range laser radar as the forward looking ranging instrument, be installed on vehicle upper or front portion.
Range laser radar is a technology of present comparative maturity, can be used as a selection of the forward looking ranging instrument in the native system.Range laser radar of the present invention can be comprised of transmitter unit, receiving element and electric time-keeping unit.Fig. 2 is its system module figure.Transmitter unit comprises a laser 11, beam splitter 12, the first detector 13 and one group of emitting antenna 14.Laser gives off laser beam, and beam splitter is divided into two laser beam, and a part enters detector 13, is used for triggering electronic timer 16 beginning timing.Another part is launched and is carried out distance measurement through emitting antenna 14.The Main Function of emitting antenna is adjusting laser beam spot size and angle of divergence.The effect of receiving wire 15 is to compile to run into 180 ° of laser pulses that reflect behind the obstacle, and will return the pulse that comes and be transported to the second detector 17, and detector 17 triggers electronic timer 16 after returning pulse and stops timing receiving.It namely is the range data that will measure divided by 2 that the time data Δ t that electronic timer measures multiply by light velocity c.
When range laser radar is applied to the time of the present invention, also have some problems to need to solve.It at first is the selection of laser.1, about the selection of laser wavelength: infrared band is one and selects preferably.Because visible light wave range can cause human eye and disturb and infringement, ultraviolet band then might be to the Person's skin injury.There are not the problems referred to above in infrared band.2, about the way of output of laser, adopt pulsed more satisfactory.Because the laser beam that range finding application itself just requires must be pulsed.If laser is continuous wave output, also need a special device that laser is changed into pulsed.As an example, the carbon dioxide gas laser of wavelength between 9～11 microns is that a better selection, particularly wavelength are 10.6 microns TEA CO
2The advantages such as laser (transversely excited, normal pressure, carbon dioxide gas laser) has an impulse rate high, and the output energy is large, and antijamming capability is strong, and cost of manufacture is lower relatively are fit to be applied in the middle of the present invention.And, then can design and produce according to the particular case of the vehicle that will use too large difficult point not technically about the design parameter of laser such as single pulse energy, pulse output frequency etc.
Adopt TEA CO at laser
2In the situation of laser, as an example, beam splitter can adopt the zinc selenide material to make, and detector can adopt the lithium tantalate material to make, because zinc selenide material environment comformability is stronger, relatively is fit to vehicle-mounted use; And lithium tantalate (LiTaO
3) be a kind of important multifunctional material, have good piezoelectricity, ferroelectric, acousto-optic and electrooptic effect, make detector with the lithium tantalate material and need not refrigeration.
Range laser radar is applied to the problem that the present invention also needs to solve detection blind area.This relates generally to some technical parameters of emitting antenna.In the middle of concrete the application, can design according to the particular case of the vehicle that will use, do not have technically too large difficult point.
In order to reduce and even to eliminate detection blind area, can also adopt following forward looking ranging instrument design plan: a cover respectively is installed on the left and right vehicle wheel both sides or many cover transmitter units are installed side by side, and receiving element can be corresponding one by one with transmitter unit, also can only keep a cover, processes as the case may be.Typical design can be a cover transmitter unit respectively is installed on the left and right vehicle wheel both sides and in the centre one cover is installed and is received the unit, also transmitter unit and receiving element can be made a module, the scheme that adopts two or more modules to install side by side, when installing side by side, must allow the in order alternation of each transmitter unit, otherwise will cause obscuring of echoed signal and cause measuring error.
Forward looking ranging instrument 1 (being range laser radar) links to each other with Central Processing Unit (CPU) 3 by data transmission circuit, apomecometer control circuit (can adopt the switch circuit technology of existing control laser power supply); The control circuit of computer controlled speed reducing driving device can be realized by the switch circuit between a speed reducing driving device drive motor and the power supply; analog to digital conversion circuit with routine obtains data from vehicle speedometer; the main control computer of Central Processing Unit (CPU) comes the mode of operation (settings of start, shutdown and various working parameters) of output command control forward looking ranging instrument by executive control program, and accepts its take off data.
The built-in drive program that can realize the object of the invention of the main control computer of described Central Processing Unit (CPU) 3 shows with vehicle speedometer 2, data by interface circuit respectively and Alarm Unit 6 is connected, to control their running state.
Central Processing Unit (CPU) 3 mainly is comprised of a main control computer and related accessories unit.For the ease of being installed on the vehicle, computer system is miniaturization as far as possible, and micro controller system is a good selection.The function of various accessory units is that computing machine and subsystems are coupled together, and forms the holonomic system of a meet requirements.These annexes comprise: connect interface circuit and the drive program of computing machine and vehicle speedometer, be used for obtaining the automobile's instant velocity data; The control circuit and the drive program that connect computing machine and forward looking ranging instrument are for the running state of control forward looking ranging instrument; The data transmission circuit drive program that connects computing machine and forward looking ranging instrument is used for obtaining the range data that records; The deceleration control circuit and the drive program that connect computing machine and speed reducing driving device are for the running state of control speed reducing driving device; The interface circuit and the drive program that connect the demonstration of computing machine and data and Alarm Unit.These annexes all belong to conventional computer software and hardware, and prior art can realize, not give unnecessary details herein.
The Main Function of Central Processing Unit (CPU) is control forward looking ranging instrument and speed reducing driving device.It carries out comprehensive assessment to every data of obtaining, and controls as the case may be the mode of operation of other unit.The workflow of Central Processing Unit (CPU) can be referring to an embodiment shown in Figure 3:
System's automatic activation (setting in the drive program) behind the vehicle launch.A parameter n about " multiplicity " who at first arranges in the program makes zero.Then main control computer begins to gather vehicle speed data.If the speed of a motor vehicle is lower than certain setting value v
0(such as 50 kilometers/hour), the possibility that safety problem occurs so is little, and the id reaction power of chaufeur is just enough, and at this moment the forward looking ranging instrument just is in dormant state, can save electric power.In case the speed of a motor vehicle is greater than v
0, the forward looking ranging instrument just commences work without delay.The range data L that measures (being the distance of this car and the place ahead obstacle) is transferred to main control computer, computing machine shows this range data L value on the one hand at telltale, calculate on the other hand the ratio of L and current vehicle speed v, with L/v ratio as a judge index.Obviously this ratio is the parameter of a time equivalent.We can set a parametric t in advance
X: its reflection ordinary people's judgment, namely when a common person for driving a car finds that the place ahead has obstacle to brake, he makes a response in can how long, and this time value be multiply by a safety factor, just can be used as t
XOptimum setting value t
0(the present invention selectes t
0Value about 0.5 second).If L/v ratio is greater than t
0, show that object and this car that vehicle front exists are keeping safety distance, normal vehicle operation.If L/v ratio is less than t
0, show that then distance is too near between Ben Che and the objects in front.At this moment, warning device sends sound/visual alarm, and multiplicity parameter n is from adding 1 simultaneously.System judges whether n reaches setting value n
0If n does not reach setting value n
0, then get back to front step and continue to measure; If n reaches setting value n
0, main control computer sends speed-slackening signal to speed reducing driving device, and the latter drives brake and drive system for vehicle with tow and makes car retardation.Multiplicity parameter n is set
0Purpose be for safe, if only decision making according to the result that once finds range, perhaps multiplicity parameter n
0The number of times of setting is very few, the situation that vehicle is slowed down by mistake because of measured error just might occur; If multiplicity parameter n
0The number of times of setting is too much, will certainly cause system response time long, and the purpose that out of reach is in time processed can not in time drive brake and drive system for vehicle with tow and make car retardation; So select a rational multiplicity parameter n
0Also be an invention emphasis of the present invention, it guarantees the quick response of system as far as possible, and can also avoid when measured error occurring vehicle by unnecessary deceleration; The present invention is selected multiplicity parameter n in one embodiment
0Be 5～10 times, certainly, can also select rational multiplicity parameter n according to the configuration of system host and the response time of concrete system
0Simultaneously, in order to prevent the impact of various disturbing factors, multiplicity n keeps 0＜n＜n
0Time just automatically n is returned 0 greater than the time interval value Δ t of a setting.
Behind the vehicle immobilization, the present invention has the travel safety ensuring system autoshutdown of forward looking ranging and automatic retarding function.
Data show and Alarm Unit just can be realized with common computer annex, do not have the technical barrier.Data display equipment can be installed in the meter panel of motor vehicle, supplies at any time reference driver as a parameter.Warning device can employing sound/mode that light is reported to the police.Here unique problem that needs to solve is the demonstration of range data.Because range frequency must keep very high ability meet requirements (tens of and even hundreds of times of per second), if show the too fast of data data jump with so high frequency, the driver may not see at all.Ways of addressing this issue has a lot, shows data such as every interval time period, and perhaps getting aviation value in the time period, to output to telltale first-class.
Speed reducing driving device 4 is connected with Central Processing Unit (CPU) 3, is subjected to the latter's control.Central Processing Unit (CPU) makes car retardation confirming to utilize in case of necessity it to start the brake system of vehicle.Speed reducing driving device can adopt a variety of designs, such as hydraulic-driven, and motor-driven, Electromagnetic Drive etc.As an example, Fig. 4 has provided the scheme that adopts the motor-driven cam mechanism.In Fig. 4, one is arranged in parallel with the vehicle footstep brake gear and the brake pressing plate 52 of with it equivalence links to each other with motor-driven cam mechanism (or eccentric mechanism) 51, after receiving the braking information that Central Processing Unit (CPU) sends, speed reducing driving device is the motor rotation of driving cam means just, and the bossing of cam contacts with the deceleration pressing plate so that the purpose that car brakeing and realizing is slowed down.Speed reducing driving device receives order from Central Processing Unit (CPU), and the L/v value is greater than the threshold value of setting, and motor does not turn round; The L/v value is less than the threshold value of setting, motor entry into service.
The various embodiments described above can not depart from the scope of the present invention lower in addition some variations, thus above explanation comprises and accompanying drawing shown in structure should be considered as exemplary, but not in order to limit claim of the present invention.
Claims (1)
1. driving safety guaranteeing method with forward looking ranging and automatic retarding function, at first, travel safety ensuring system with forward looking ranging and automatic retarding function is installed in vehicle, this system comprises forward looking ranging instrument, Central Processing Unit (CPU), data demonstration and Alarm Unit, speed reducing driving device at least, and comprise vehicle speedometer and system power supply, wherein, described forward looking ranging instrument, adopt a range only radar, be installed on vehicle upper or front portion; Described Central Processing Unit (CPU), built-in driver is connected with forward looking ranging instrument, data demonstration and Alarm Unit, vehicle speedometer and speed reducing driving device respectively by interface circuit; The forward looking ranging instrument obtains instruction from Central Processing Unit (CPU), according to the instruction works of Central Processing Unit (CPU), and the range data that records is transferred to Central Processing Unit (CPU); Data show and Alarm Unit also shows from the Central Processing Unit (CPU) receive data, and send where necessary sound/visual alarm; The mouth of vehicle speedometer links to each other with the input end of Central Processing Unit (CPU), for it provides instant vehicle speed data; Speed reducing driving device connects the brake system of vehicle self; System power supply provides power supply for whole system; It is characterized in that method step is as follows:
Security reaction time t when a) setting in advance common person for driving a car in this system and find that the place ahead has obstacle to brake
0, speed of a motor vehicle setting value v
0,Multiplicity parameter n
0And interval Zhi ⊿ t between Shi;
B) travel safety ensuring system that automatic activation has forward looking ranging and automatic retarding function behind the vehicle launch;
C) system at first returns 0 with multiplicity n after starting;
D) Central Processing Unit (CPU) begins to gather vehicle speed data: if the speed of a motor vehicle is lower than setting value v
0, at this moment the forward looking ranging instrument just is in dormant state, and Central Processing Unit (CPU) continues to gather vehicle speed data; In case the speed of a motor vehicle is more than or equal to setting value v
0, continue next step;
E) the forward looking ranging instrument is started working, and measures this car and the place ahead obstacle distance data L, and is transferred to Central Processing Unit (CPU);
F) Central Processing Unit (CPU) calculates the ratio of L and current vehicle speed v, the security reaction time t when result of calculation and common person for driving a car find that the place ahead has obstacle to brake
0Relatively, if L/v ratio is greater than t
0, multiplicity n returns 0, and speed reducing driving device is failure to actuate; If L/v ratio is less than t
0, data show and Alarm Unit sends sound/visual alarm, multiplicity n is from adding 1;
G) system judges whether n reaches setting value n
0If n reaches setting value n
0, Central Processing Unit (CPU) sends speed-slackening signal to speed reducing driving device, drives motor vehicle braking system and makes car retardation, and get back to step c); If n＜n
0, and n keeps 0＜n＜n
0Time less than interval Zhi ⊿ t between the Shi that sets, then get back to step e); If n＜n
0, and n keeps 0＜n＜n
0Time greater than interval Zhi ⊿ t between Shi, then get back to step c);
H) system's autoshutdown behind the vehicle immobilization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010106723 CN101734244B (en) | 2009-06-18 | 2010-02-08 | System and method for ensuring driving safety having functions of foresight ranging and automatic deceleration |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100869232A CN101580018A (en) | 2009-06-18 | 2009-06-18 | Driving safety guarantee system and method with functions of forward-looking distance measurement and automatic deceleration |
| CN200910086923.2 | 2009-06-18 | ||
| CN 201010106723 CN101734244B (en) | 2009-06-18 | 2010-02-08 | System and method for ensuring driving safety having functions of foresight ranging and automatic deceleration |
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| CN101734244A CN101734244A (en) | 2010-06-16 |
| CN101734244B true CN101734244B (en) | 2013-01-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101992740A (en) * | 2010-11-02 | 2011-03-30 | 上海电机学院 | Anti-collision control system and control method thereof |
| CN102466800B (en) * | 2010-11-09 | 2014-05-14 | 亚洲光学股份有限公司 | Laser ranging device with function of automatically starting ranging and automatic starting method thereof |
| CN102897156B (en) * | 2012-10-22 | 2015-09-30 | 安徽省鸿运机械制造有限公司 | A kind of vehicle slow system of intelligence |
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|---|---|---|---|---|
| CN2083552U (en) * | 1990-08-22 | 1991-08-28 | 王天厚 | Infrared laser fully automatic anti-collision device of vehicles |
| CN2356900Y (en) * | 1998-03-11 | 2000-01-05 | 李炼 | Automatic collision-proof device for motor vehicle |
| CN1676375A (en) * | 2004-07-08 | 2005-10-05 | 汕头大学 | Automobile intelligent anticollision system |
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